cleaning

giulioturrisi · giulioturrisi · commit ef2fc0b46ae0 · 2025-08-06T13:54:08.000+02:00
diff --git a/quadruped_pympc/interfaces/wb_interface.py b/quadruped_pympc/interfaces/wb_interface.py
@@ -535,8 +535,6 @@ def compute_stance_and_swing_torque(
             qpos_predicted = copy.deepcopy(qpos)
             # TODO use predicted rotation too
             # qpos_predicted[0:3] = nmpc_predicted_state[0:3]
-            # TODO make the ik explicit and not numerical
-            #temp = self.ik.fun_compute_solution(
             temp = self.ik.compute_solution(
                 qpos_predicted, des_foot_pos.FL, des_foot_pos.FR, des_foot_pos.RL, des_foot_pos.RR
             )

Original file line number	Diff line number	Diff line change
`@@ -535,8 +535,6 @@ def compute_stance_and_swing_torque(`
`535`	`535`	`qpos_predicted = copy.deepcopy(qpos)`
`536`	`536`	`# TODO use predicted rotation too`
`537`	`537`	`# qpos_predicted[0:3] = nmpc_predicted_state[0:3]`
`538`		`- # TODO make the ik explicit and not numerical`
`539`		`- #temp = self.ik.fun_compute_solution(`
`540`	`538`	`temp = self.ik.compute_solution(`
`541`	`539`	`qpos_predicted, des_foot_pos.FL, des_foot_pos.FR, des_foot_pos.RL, des_foot_pos.RR`
`542`	`540`	`)`